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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rtl_params.c
*
* Parameters for RTL
*
* @author Julian Oes <julian@oes.ch>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* RTL parameters, accessible via MAVLink
*/
/**
* RTL altitude
*
* Altitude to fly back in RTL in meters
*
* @unit meters
* @min 0
* @max 150
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
/**
* RTL loiter altitude
*
* Stay at this altitude above home position after RTL descending.
* Land (i.e. slowly descend) from this altitude if autolanding allowed.
*
* @unit meters
* @min 2
* @max 100
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
/**
* RTL delay
*
* Delay after descend before landing in RTL mode.
* If set to -1 the system will not land but loiter at NAV_LAND_ALT.
*
* @unit seconds
* @min -1
* @max 300
* @group Return To Land
*/
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
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